Abstract: A harmonic drive apparatus comprises a circular spline which has internal spline teeth and which is rotatable around a rotational axis, a flexible cylindrical flexspline which is concentrically disposed within the circular spline and which has external spline teeth, the number of flexspline external teeth being less than the number of internal teeth of the circular spline, a wave generator disposed within the flexspline for flexing the flexspline in the radial direction thereof so as to locally engage the flexspline external teeth with the internal teeth of the circular spline, and a multi-row ball bearing flexible in the radial direction thereof which has balls equally spaced along the circumferential direction of the wave generator and which is disposed between the wave generator and the flexspline, the balls being disposed in a plurality of circumferential lines which are separated from one another along the axial direction of the wave generator, the balls in each circumferential line being disposed betwee

Abstract: A harmonic drive apparatus includes a circular spline having a number of internal teeth, a radially flexible cylindrical flexspline having outer spline teeth engageable with the internal teeth of the circular spline, and a wave generator disposed within the flexspline in engagement therewith. The circular spline, the flexspline, and the wave generator are rotatable around a rotational axis. The number of the external spline teeth of the flexspline is less than the number of the internal spline teeth of the circular spline. The wave generator has a cam section which generates a circumferential wave of radial deflection of the flexspline for causing the external spline teeth thereof to locally engage with the internal spline teeth of the circular spline. The cam section has elasticity in its radial direction sufficient for biasing the flexspline against the circular spline to absorb any play between the flexspline and the circular spline.

Abstract: A harmonic gear apparatus includes a tubular circular spline having a multiplicity of teeth on an inner periphery thereof, and a flexible spline disposed in the circular spline and having a multiplicity of teeth on an outer periphery thereof, the number of which is smaller than that of the circular spline. A flexion generating member rotatably mounted on a rotary shaft is rotatably disposed in the flexible spline. A generally annular flexible supporting member supports one end of the flexible spline in such a manner that the flexible spline is able to flex in a radial direction but has a significant rigidity in the circumferential direction. When the spline is flexed while the flexion generation member rotates in the flexible spline, some of its teeth engage with some of the teeth of the circular spline thereby rotating the circular spline.

Abstract: There is disclosed a multijoint in which the primary moment force caused by a combined gravity of the lower arm which is supported by an elbow joint portion for pivotting the upper and lower arm together and a distal mechanism fitted to the distal end of the lower arm, is minimized by imparting a force opposite the primary moment force thereby reducing the load of an electric motor for driving the elbow joint portion.

Abstract: A plasma confining device is provided with a deflection magnetic field device which sets magnetic flux perpendicularly to a central plane of sheet-shaped charged particle flow formed by charged particles which have escaped from a plasma confined by a cusp magnetic field or a mirror magnetic field through the line cusp or linear open end thereof, an edge of the deflection magnetic field being perpendicular to the direction of motion of the sheet-shaped charged particle flow, so that each charged particle, composing the sheet-shaped charged particle flow, is changed in its direction of motion reversely and forced to reenter into the plasma without remarkable loss.